/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "gpio.h"
#include "math.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp_dwt.h"
#include "motor_simulation.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
typedef struct{
	float kp;
	float ki;
	float kd;
	float integral;//ji fen
	float last_error;
} PID_t;

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
motorObject_t motor;
PID_t PID;
uint32_t DWT_CNT;
float dt;
float t;
float Input;
float Current;//dian liu
float VelocityRef=10;//su du
float Angle=0;//jiao du
float disturbance=0;
float Controller_Mode;
float Response_Mode;
float Velocity;
float AngleRef;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
float PID_Calculate(PID_t *pid,float setpoint,float real,float dt){
	float error =setpoint-real;
	pid->integral+=error*dt;
	float derivative=(error-pid->last_error)/dt;
	pid->last_error =error;
	return pid->kp*error+pid->ki*pid->integral+pid->kd*derivative;
};
float PID_Init(PID_t *pid,float kp,float ki,float kd){
	pid->kp=kp;
	pid->ki=ki;
	pid->kd=kd;
	pid->integral=0.0f;
	pid->last_error=0.0f;
};
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */
DWT_Init(72);
Motor_Object_Init(&motor);
PID_Init(&PID,15,1,0.1);

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
dt=DWT_GetDeltaT(&DWT_CNT);
t+=dt;
Current=Get_Motor_Current(&motor);
Velocity=Get_Motor_Velocity(&motor);
Angle=Get_Motor_Angle(&motor);
Motor_Simulation(&motor,Input,dt);
if(Controller_Mode==0){
if(Response_Mode==0){
	VelocityRef=10;
}
if(Response_Mode==1){
	VelocityRef=t;
}
if(Response_Mode==2){
	VelocityRef=10*sin(t);
}
Input=PID_Calculate(&PID,VelocityRef,Velocity,0.1);}
if(Controller_Mode==1){
if(Response_Mode==0){
	AngleRef=2*3.14;
}
if(Response_Mode==1){
	AngleRef=2*3.14*sin(t);
}
if(Response_Mode==2){
	AngleRef=0;
}
Input=PID_Calculate(&PID,AngleRef,Angle,0.1)+disturbance;
}
/* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		HAL_Delay(1);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
